vrpn_Tracker_Crossbow.h

// vrpn_Tracker_Crossbow.h
//  This file contains the class header for a Crossbow RGA300CA Tracker.
//  This version was written in the summer of 2005 by Chris VanderKnyff.
 
#ifndef VRPN_TRACKER_CROSSBOW_H
#define VRPN_TRACKER_CROSSBOW_H
 
#include "quat.h" // for q_type
#include "vrpn_Configure.h" // for VRPN_API
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Tracker.h" // for vrpn_Tracker_Serial
#include "vrpn_Types.h" // for vrpn_int16, vrpn_uint16, etc
 
class VRPN_API vrpn_Connection;
 
class VRPN_API vrpn_Tracker_Crossbow: public vrpn_Tracker_Serial {
public:
    /// The constructor is given the name of the tracker (the name of
    /// the sender it should use), the connection on which it is to
    /// send its messages, the name of the serial port it is to open
    /// (default is /dev/ttyS0 (first serial port in Linux), the baud
    /// rate at which it is to communicate (default 38400), the linear
    /// acceleration range of the sensor in Gs (default 2), and the 
    /// angular acceleration range of the sensor in degrees per second
    /// (default 100).
 
 vrpn_Tracker_Crossbow(const char *name, vrpn_Connection *c, 
 const char *port = "/dev/ttyS0", long baud = 38400,
 float g_range = 2.0f, float ar_range = 100.0f);
 
 ~vrpn_Tracker_Crossbow();
 
 // Run through the main loop once, sending notification messages as necessary
 virtual void mainloop();
 
 // Reset the tracker. 
 void reset();
 
 // Get reports from the serial port
 int get_report();
 
 // Retrieve the device's serial number. This is cached between resets.
    vrpn_uint32 get_serial_number();
 
 // Retrieve the device's version string. This is cached between resets.
 const char *get_version_string();
 
 // Recalibrates and zeros the device's rate sensors over a specified # of samples.
 // This takes about 3-4ms per sample, during which time the process blocks.
 // The device does not have to be level when zeroing, but must be still.
 void recalibrate(vrpn_uint16 num_samples = 20000);
 
protected:
 struct raw_packet {
        vrpn_uint16 header;
        vrpn_int16 roll_angle;
        vrpn_int16 pitch_angle;
        vrpn_int16 yaw_rate;
        vrpn_int16 accel_x;
        vrpn_int16 accel_y;
        vrpn_int16 accel_z;
        vrpn_uint16 timer;
        vrpn_int16 temp_voltage;
        vrpn_int16 part_number;
        vrpn_int16 status;
        vrpn_uint16 checksum;
    };
 
 struct timeval init_time;
 float lin_accel_range;
 float ang_accel_range;
 
    vrpn_uint32 device_serial; // Device serial number
 char *device_version; // Device version string
 
 int just_read_something;
 
 void unbuffer_packet(raw_packet &dest, unsigned char *buffer);
 int validate_packet(const raw_packet &packet);
 void process_packet(const raw_packet &packet);
 
 float convert_scalar(vrpn_int16 data, float scale) const;
 void xb_quat_from_euler(q_type destQuat, double pitch, double roll) const;
 
 void send_report();
 
 void ping();
 
};
 
#endif